Average Annual Revenue Growth Rate Calculation

A financial analyst is conducting a trend analysis of Company X's revenue over the past five years. The revenue figures (in millions) are as follows: 2019: $150, 2020: $160, 2021: $175, 2022: $190, 2023: $210. The analyst identifies that the revenue growth appears to be consistent, prompting further evaluation of the year-on-year percentage growth. What is the average annual revenue growth rate over this five-year period?